A balancing system, balancing method and controller for underwater glider

Abstract

The present application relates to the technical field of underwater equipment, and in particular to a balancing system, balancing method and controller for an underwater glider. The balancing system includes a posture adjustment device, a sensor and a controller. The underwater glider is immersed in a first space formed by a test liquid. The posture adjustment device is arranged outside the first space. The posture adjustment device is connected to a preset balance point of the underwater glider to adjust the posture of the underwater glider. The sensor is arranged outside the first space, between the posture adjustment device and the underwater glider. The controller is respectively connected to the sensor and the underwater glider in communication, and controls the posture adjustment device according to the pitch and roll data of the underwater glider to make the posture of the underwater glider reach a preset posture. When the posture of the underwater glider reaches the preset posture, the weight data of the counterweight block is determined according to the adjustment data measured by the sensor. The balancing system, balancing method and controller for an underwater glider proposed in the present application can improve the balancing efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of underwater equipment, and in particular to a balancing system, a balancing method and a controller for an underwater glider. Background Art

[0002] Underwater gliders are widely used in marine environment observation and target detection activities. Underwater gliders are underwater observation equipment that rely on their own buoyancy changes to move and adjust their pitch and roll angles through built-in attitude adjustment mechanisms. The roll angle is the angle between the horizontal axis of the underwater glider and the horizontal line.

[0003] Before the underwater glider is put into use, it needs to be statically trimmed in a pool to improve the attitude stability of the underwater glider in actual use. Static trim is a process of achieving a stable equilibrium state in the water through a series of adjustment measures before the underwater glider is launched.

[0004] There are usually two ways to balance an underwater glider in the prior art. The first way is pure manual balancing. The staff places the underwater glider in a pool and checks the posture of the underwater glider. Then the staff fishes out the underwater glider and adds a counterweight to the underwater glider. Then the staff puts the underwater glider into the water for measurement until the posture of the underwater glider in the water reaches a balanced posture.

[0005] The second method is to set sensors on the underwater glider and use the sensors for trimming. In the second method, the sensors are set in the water of the pool to measure the pitch angle and roll angle of the underwater glider in the water. Then, the underwater glider is trimmed manually or by equipment according to the pitch angle and roll angle of the underwater glider measured by the sensors.

[0006] However, the inventors found that the first method of the prior art relies on manual labor, has low balancing accuracy and a long balancing time, and is inefficient; the sensor in the second method of the prior art is set in water, which requires a sealing tool to be set for the sensor, resulting in a complex structure. Summary of the invention

[0007] The present application aims to provide a balancing system, a balancing method and a controller for an underwater glider.

[0008] According to one aspect of the present application, a balancing system for an underwater glider is provided. The balancing system includes an attitude adjustment device, a sensor, and a controller. The underwater glider is immersed in a first space formed by a test liquid, and the attitude adjustment device is arranged outside the first space. The attitude adjustment device is connected to a preset counterweight point of the underwater glider to adjust the attitude of the underwater glider. The sensor is arranged outside the first space, and is located between the attitude adjustment device and the underwater glider, and is respectively connected to the attitude adjustment device and the underwater glider. The sensor measures the adjustment data of the attitude adjustment device. The controller is connected to the sensor in communication, and is connected to the underwater glider in communication. According to the pitch and roll data of the underwater glider, the attitude adjustment device is controlled to make the attitude of the underwater glider reach a preset attitude. When the attitude of the underwater glider reaches the preset attitude, the weight data of the counterweight block is determined according to the adjustment data measured by the sensor, and the weight data of the counterweight block is output. The preset counterweight point is a position on the underwater glider for placing the counterweight block for balancing.

[0009] According to some embodiments, the preset counterweight point includes a bow counterweight point and a stern counterweight point; wherein the attitude adjustment device includes a bow adjustment device and a stern adjustment device.

[0010] The bow adjustment device includes a bow hoisting device and a bow pressure device. The bow hoisting device is connected to the bow counterweight to adjust the pitch angle of the bow of the underwater glider through the bow counterweight; the bow pressure device is connected to the bow counterweight to adjust the roll angle of the bow of the underwater glider through the bow counterweight.

[0011] The stern adjustment device includes a stern hoisting device and a stern pressure device. The stern hoisting device is connected to the stern balancing point to adjust the pitch angle of the stern of the underwater glider through the stern balancing point. The stern pressure device is connected to the stern balancing point to adjust the roll angle of the stern of the underwater glider through the stern balancing point.

[0012] According to some embodiments, the bow counterweight includes an upper bow counterweight and a lower bow counterweight. The bow hoisting device includes an upper bow hoisting motor and a lower bow hoisting motor. The sensor includes a first tension sensor and a second tension sensor.

[0013] The upper bow hoisting motor is connected to the upper bow counterweight, and pulls the upper bow counterweight upward. The lower bow hoisting motor is connected to the lower bow counterweight, and drives the lower bow counterweight downward. The first tension sensor is arranged between the upper bow hoisting motor and the upper bow counterweight, and measures the force between the upper bow hoisting motor and the upper bow counterweight to obtain the upper bow tension data. The second tension sensor is arranged between the lower bow hoisting motor and the lower bow counterweight, and measures the force between the lower bow hoisting motor and the lower bow counterweight to obtain the lower bow tension data.

[0014] According to some embodiments, the test liquid is located in a water pool. The bow hoisting device further includes a first pulley and a second pulley. The first pulley is fixedly arranged at the bottom of the water pool, the lower bow counterweight is located directly above the first pulley, the upper bow counterweight is located directly above the lower bow counterweight, the first tension sensor is located directly above the upper bow counterweight; and the upper bow hoisting motor is located directly above the first tension sensor.

[0015] The second pulley is fixedly arranged at the bottom of the pool, and the second pulley is located directly below the second tension sensor. The second tension sensor is located directly above the lower bow hoisting motor. The lower bow hoisting motor is connected to one end of the second tension sensor. The other end of the second tension sensor is connected to the lower bow counterweight via the second pulley and the first pulley. The upper bow hoisting motor is connected to one end of the first tension sensor. The other end of the first tension sensor is connected to the upper bow counterweight.

[0016] According to some embodiments, the bow counterweight further includes a left bow counterweight and a right bow counterweight. The bow pressure device further includes a left bow pressure motor and a right bow pressure motor. The sensor further includes a first pressure sensor and a second pressure sensor.

[0017] The left bow pressure motor is connected to the left bow counterweight to drive the left bow counterweight to move up and down. The right bow pressure motor is connected to the right bow counterweight to drive the right bow counterweight to move up and down.

[0018] The first pressure sensor is arranged between the left bow pressure motor and the left bow counterpoint, and is connected to the left bow pressure motor and the left bow counterpoint respectively. The first pressure sensor measures the force between the left bow pressure motor and the left bow counterpoint to obtain the left bow pressure data.

[0019] The second pressure sensor is arranged between the right bow pressure motor and the right bow counterpoint, and is connected to the right bow pressure motor and the right bow counterpoint respectively. The second pressure sensor measures the force between the right bow pressure motor and the right bow counterpoint to obtain the right bow pressure data.

[0020] According to some embodiments, the bow pressure device further includes a left bow guide and a left bow pressure rod. The left bow pressure rod is vertically arranged, the top of the left bow pressure rod is connected to the left bow pressure motor, and the bottom of the left bow pressure rod is connected to the left bow counterweight. The left bow guide is located between the left bow pressure motor and the first pressure sensor, and is connected to the first pressure sensor. The left bow pressure rod passes through the left bow guide and the left bow pressure motor.

[0021] According to some embodiments, the bow pressure device further includes a left bow top plate, a left bow limit plate and at least two left bow positioning rods. The left bow top plate is arranged between the left bow pressure rod and the left bow pressure motor, and is respectively connected to the left bow pressure rod and the left bow pressure motor. One end of each left bow positioning rod is connected to the left bow top plate. The left bow limit plate is arranged below the first pressure sensor and is connected to the first pressure sensor, and the left bow pressure rod passes through the left bow limit plate. At least two left bow positioning rods pass through the left bow limit plate.

[0022] According to another aspect of the present application, a balancing method for an underwater glider is proposed, and the balancing method is applied to a balancing system for an underwater glider. The balancing system includes a posture adjustment device, a sensor, and a controller. The underwater glider is immersed in a first space formed by a test liquid. The posture adjustment device is arranged outside the first space. The posture adjustment device is connected to a preset balancing point of the underwater glider to adjust the posture of the underwater glider. The sensor is arranged outside the first space, between the posture adjustment device and the underwater glider, and is respectively connected to the posture adjustment device and the underwater glider to measure the adjustment data of the posture adjustment device. The preset balancing point is a position on the underwater glider for placing a balancing weight for balancing.

[0023] The balancing method includes controlling the attitude adjustment device according to the pitch and roll data of the underwater glider to make the attitude of the underwater glider reach a preset attitude. When the attitude of the underwater glider reaches the preset attitude, the weight of the counterweight block corresponding to the preset counterweight point is determined and output according to the adjustment data measured by the sensor.

[0024] According to another aspect of the present application, a controller is proposed, which includes: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors implement the method as described above.

[0025] Beneficial Effects

[0026] The underwater glider balancing system of the present application uses an attitude adjustment device, a sensor and a controller outside the liquid to adjust the attitude of the underwater glider in the test liquid. In addition, the controller communicates with the underwater glider to adjust the attitude adjustment device using the pitch and roll data of the underwater glider. In addition, when the attitude of the underwater glider reaches a preset attitude, the controller can calculate the weight data of the counterweight block of the underwater glider, so that the staff can place a counterweight block of corresponding weight on the underwater glider according to the weight data of the counterweight block to balance the underwater glider.

[0027] The trim system of the embodiment of the present application does not require manual repeated trimming, which reduces labor costs and improves efficiency. At the same time, in the trim system of the embodiment of the present application, the sensor and other devices are located outside the liquid instead of being arranged in the liquid, so there is no need to set up complex sealing tooling for the sensor, the structure is simple and maintenance is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 This is a schematic diagram of the system framework of the underwater glider's trim system;

[0030] Figure 2 It is a schematic diagram of the overall structure of the balancing system of the underwater glider;

[0031] Figure 3 A schematic diagram of a preset counterweight point located at the bow of an underwater glider;

[0032] Figure 4 It is a schematic diagram of the connection relationship between the lifting motor and the preset counterweight;

[0033] Figure 5 This is a schematic diagram of the connection between the bow hoisting motor and the first sensor in an embodiment of the present application;

[0034] Figure 6 This is a schematic diagram of the connection between the pressure motor and the preset counterweight in the embodiment of the present application;

[0035] Figure 7 It is a detailed enlarged schematic diagram of the left bow matching point and the right bow matching point of the embodiment of the present application;

[0036] Figure 8 This is a schematic diagram of the connection relationship between the left bow pressure motor and the left bow pressure rod in the embodiment of the present application;

[0037] Fig. 9 This is a flow chart of a method for balancing an underwater glider according to an embodiment of the present application;

[0038] Fig.10 Schematic diagram of a controller according to an embodiment of the present application.

[0039] Description of reference numerals:

[0040] 1. Underwater glider; 2. Water pool; 21. First space; 3. Attitude adjustment device; 31. Upper bow lifting motor; 32. Lower bow lifting motor; 33. First pulley; 34. Second pulley; 35. Left bow pressure motor; 36. Right bow pressure motor; 37. Left bow guide; 38. Left bow pressure rod; 39. Left bow top plate; 310. Left bow positioning rod; 311. Left bow limit plate; 312. Upper stern lifting motor; 313. Lower stern lifting motor; 3 14. Left stern pressure motor; 315. Right stern pressure motor; 4. Sensor; 41. First tension sensor; 42. Second tension sensor; 43. First pressure sensor; 5. Preset counterweight; 51. Upper bow counterweight; 52. Lower bow counterweight; 53. Left bow counterweight; 54. Right bow counterweight; 6. Frame; 7. Glider mounting bracket; 8. Eyebolt; 1001. Processor; 1002. Bus; 1003. Memory; 1004. Transceiver. DETAILED DESCRIPTION

[0041] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this application will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0042] The described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of these specific details, or other modes, components, materials, devices, etc. may be adopted. In these cases, known structures, methods, devices, implementations, materials or operations will not be shown or described in detail.

[0043] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0044] The terms "first", "second" and the like in the specification and claims of this application and the above drawings are used to distinguish different objects rather than to describe a specific order.

[0045] The following is a clear and complete description of the technical solution of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0046] According to one aspect of the present application, an embodiment of the present application provides a balancing system for an underwater glider. Figure 1 The system framework of the underwater glider's trim system is shown. Figure 1 , the underwater glider 1 is located in a first space 21 formed by a test liquid. The test liquid can be located in a pool 2. The test liquid can be water. The test liquid forms the first space 21 in the pool 2. That is, the underwater glider 1 is immersed in the test liquid in the pool 2.

[0047] Reference Figure 1 The balancing system includes an attitude adjustment device 3, a sensor 4 and a controller to balance the underwater glider 1.

[0048] Reference Figure 1 The attitude adjustment device 3 is connected to the preset counterweight point 5 of the underwater glider 1 to adjust the attitude of the underwater glider 1. The attitude adjustment device 3 is arranged outside the first space 21. For example, the attitude adjustment device 3 is above the liquid surface of the pool 2. The preset counterweight point 5 is a position pre-determined on the underwater glider 1 for placing a counterweight block for balancing.

[0049] Optionally, the attitude adjustment device 3 and the preset counterweight point 5 of the underwater glider 1 may be connected via a steel wire rope or a pressure rod, etc., which is not limited here.

[0050] Reference Figure 1 The sensor 4 is also arranged outside the first space 21. For example, the sensor 4 is arranged above the liquid surface of the pool 2. The sensor 4 is located between the attitude adjustment device 3 and the underwater glider 1, and is respectively connected to the attitude adjustment device 3 and the preset counterweight 5 of the underwater glider 1 to measure the adjustment data of the attitude adjustment device 3.

[0051] For example, the attitude adjustment device 3 is connected to one end of the sensor 4. The other end of the sensor 4 is connected to a preset balance point 5 of the underwater glider 1.

[0052] Exemplarily, the attitude adjustment device 3 controls the preset counterweight 5 of the underwater glider 1 by applying a force to adjust the attitude of the underwater glider 1. The sensor 4 is arranged between the attitude adjustment device 3 and the underwater glider 1, and the measured adjustment data is the force data. The force data may specifically include the magnitude of the force applied by the attitude adjustment device 3, and may also include the direction of the applied force, which is not limited here.

[0053] The controller is in communication connection with the sensor 4 and the underwater glider 1 , and receives the adjustment data measured by the sensor 4 and the pitch and roll data of the underwater glider 1 .

[0054] Exemplarily, the pitch and roll data may specifically include pitch angle data and roll angle data. The pitch angle data (Pitch Angle) describes the rotation angle of the underwater glider 1 around the horizontal axis (horizontal axis perpendicular to the flight direction) of the underwater glider 1. The pitch angle data reflects the degree of the head of the underwater glider 1 being pitched up or down relative to the horizontal plane. The roll angle data (Roll Angle) describes the rotation angle of the underwater glider 1 around its longitudinal axis (flight direction axis). The roll angle data reflects the degree of the underwater glider 1 tilting left and right.

[0055] Optionally, the controller is connected to the underwater glider 1 by wireless communication. The trim system may also include a wireless communication module. The wireless communication module is placed at a preset position to receive the pitch and roll data of the underwater glider 1 and send the pitch and roll data to the controller. The preset position may be a position close to the stern antenna of the underwater glider 1 or other positions, as long as the wireless communication module can communicate with the underwater glider 1 at the preset position and can read the radio signal of the underwater glider 1 in the flow field.

[0056] After receiving the pitch and roll data and the adjustment data, the controller can control the attitude adjustment device 3 according to the pitch and roll data of the underwater glider 1 to make the attitude of the underwater glider 1 reach the preset attitude.

[0057] For example, the controller can determine whether the pitch angle of the underwater glider 1 is a preset pitch angle, and determine whether the roll angle of the underwater glider 1 is a preset roll angle, based on the pitch angle data. When the pitch angle of the underwater glider 1 is not equal to the preset pitch angle, and the roll angle of the underwater glider 1 is not equal to the preset roll angle, the controller controls the attitude adjustment device 3 to adjust the pitch angle and roll angle of the underwater glider 1 according to the pitch angle data and the roll angle data, until the roll angle of the underwater glider 1 is the preset roll angle, and the pitch angle is the preset pitch angle, that is, until the attitude of the underwater glider 1 reaches the preset attitude.

[0058] Furthermore, the controller can also determine the weight data of the counterweight according to the adjustment data measured by the sensor 4 and output the weight data of the counterweight when the posture of the underwater glider 1 reaches a preset posture.

[0059] For example, the controller can calculate the magnitude of the force applied to the preset counterweight point 5 according to the force data measured by the sensor 4, and then convert the magnitude of the force applied to the preset counterweight point 5 into the weight of the counterweight block to determine the weight data of the counterweight block. For example, the calculated magnitude of the force applied to the preset counterweight point 5 is 1N, and the corresponding counterweight block weight is 0.1kg.

[0060] After determining the weight data of the counterweight, the controller outputs the weight data of the counterweight so that the staff can add a counterweight of the same weight to the preset counterweight point 5 according to the weight data of the counterweight, thereby completing the balancing of the underwater glider 1 .

[0061] The above-described balancing system of the underwater glider 1 uses the attitude adjustment device 3, the sensor 4 and the controller outside the test liquid to adjust the attitude of the underwater glider 1 in the test liquid. In addition, when the attitude of the underwater glider 1 reaches the preset attitude, the controller calculates the weight data of the counterweight block of the underwater glider 1, so that the staff can place the counterweight block of the corresponding weight on the underwater glider 1 according to the weight data of the counterweight block to balance the underwater glider 1.

[0062] The trim system of the embodiment of the present application does not require manual repeated trimming, which reduces labor costs and improves efficiency. At the same time, in the trim system of the embodiment of the present application, the sensor 4 and other devices are located outside the test liquid, rather than inside the test liquid, so there is no need to set up complex sealing tools, and the structure is simple and easy to maintain.

[0063] Furthermore, the trimming system of the embodiment of the present application adjusts the attitude of the underwater glider 1 directly according to the pitch and roll data measured and transmitted by the underwater glider 1. Compared with the prior art method of measuring the pitch and roll data of the underwater glider 1 by external sensors, in the method of the present application, the data used for trimming has the same source as the data in the actual movement, which is conducive to eliminating the measurement error of the external sensor and improving the accuracy of the measurement result.

[0064] Figure 2 The overall structure of the trim system of the underwater glider 1 is shown. Figure 2 The trim system of the underwater glider 1 may further include a frame 6. The water pool 2 is fixedly connected to the frame 6. The attitude adjustment device 3 may be fixedly arranged on the frame 6 to improve the stability of the trim system.

[0065] According to some embodiments, the preset counterweight 5 includes a bow counterweight and a stern counterweight. The attitude adjustment device 3 includes a bow adjustment device and a stern adjustment device. The bow adjustment device is used to adjust the bow of the underwater glider 1, and the stern adjustment device is used to adjust the stern of the underwater glider 1.

[0066] The bow adjusting device comprises a bow hoisting device which is connected to the bow balancing point so as to adjust the pitch angle of the bow of the underwater glider 1 through the bow balancing point.

[0067] Optionally, Figure 3 The figure shows the setting position of the preset counterweight point 5 located at the bow of the underwater glider 1. Figure 3 , the bow matching point may include an upper bow matching point 51 and a lower bow matching point 52. For example, referring to Figure 3 A glider fixing frame 7 is provided at the preset bow position of the underwater glider 1. The glider fixing frame 7 can be specifically a circular clamp structure. The position directly above the glider fixing frame 7 is the upper bow matching point 51, and the position directly below the glider fixing frame 7 is the lower bow matching point 52. The upper bow matching point 51 is located directly above the lower bow matching point 52.

[0068] Reference Figure 4 The bow hoisting device may include an upper bow hoisting motor 31 and a lower bow hoisting motor 32. The sensor 4 may include a first tension sensor 41 and a second tension sensor 42.

[0069] Reference Figure 4 , the upper bow hoisting motor 31 is connected to the upper bow counterpoint 51 via the first tension sensor 41. The upper bow hoisting motor 31 is connected to one end of the first tension sensor 41. The other end of the first tension sensor 41 is connected to the upper bow counterpoint 51. The first tension sensor 41 measures the acting force between the upper bow hoisting motor 31 and the upper bow counterpoint 51 to obtain the upper bow tension data.

[0070] Exemplarily, the forward rotation of the upper bow hoisting motor 31 can drive the upper bow counterweight 51 to move upward, so that the bow of the underwater glider 1 rises.

[0071] Reference Figure 3 , Figure 4 and Figure 5 The upper bow hoisting motor 31 includes a winding drum. The winding drum and the first tension sensor 41 can also be connected by a steel wire rope, and the first tension sensor 41 and the upper bow counterweight can also be connected by a steel wire rope. Exemplarily, the connection between the two ends of the first tension sensor 41 and the steel wire rope can be connected by a lifting eye screw 8. The connection between the upper bow counterweight 51 and the steel wire rope can also be connected by a lifting eye screw 8.

[0072] Optionally, the winding drum of the upper bow hoisting motor 31, the first tension sensor 41 and the upper bow counterpoint 51 can be arranged on the same vertical line. That is, the first tension sensor 41 is located directly above the upper bow counterpoint 51. The upper bow hoisting motor 31 is located directly above the first tension sensor 41. That is, the winding drum, the first tension sensor 41 and the upper bow counterpoint 51 are arranged in sequence from top to bottom. In this way, the upper bow tension data measured by the first tension sensor 41 is the tension used by the upper bow hoisting motor 31 to control the movement of the upper bow counterpoint 51.

[0073] Correspondingly, when determining the weight data of the counterweight, the controller can directly determine the weight of the counterweight at the upper bow counterweight point 51 according to the tension measured by the first tension sensor 41 .

[0074] According to an example embodiment, referring to Figure 4 , the lower bow hoisting motor 32 is connected to the lower bow counterpoint 52 via the second tension sensor 42, driving the lower bow counterpoint 52 to move downward. That is, the lower bow hoisting motor 32 is connected to one end of the second tension sensor 42. The other end of the second tension sensor 42 is connected to the upper bow counterpoint 51. The second tension sensor 42 measures the force between the lower bow hoisting motor 32 and the lower bow counterpoint 52 to obtain the lower bow tension data.

[0075] Reference Figure 4 The bow hoisting device may further include a first pulley 33 and a second pulley 34. The first pulley 33 and the second pulley 34 are respectively fixedly arranged at the bottom of the pool 2. The first pulley 33 is located directly below the lower bow counterpoint 52. That is, the first pulley 33 and the lower bow counterpoint 52 are located on the same vertical line.

[0076] The second pulley 34 is located directly below the second tension sensor 42. The second tension sensor 42 is located directly below the lower bow hoisting motor 32. That is, the lower bow hoisting motor 32, the second tension sensor 42 and the second pulley 34 are arranged in sequence from top to bottom and are located on the same vertical line.

[0077] The lower bow hoisting motor 32 is connected to one end of the second tension sensor 42. The other end of the second tension sensor 42 is connected to the lower bow counterweight 52 via the second pulley 34 and the first pulley 33.

[0078] For example, when the lower bow hoisting motor 32 rotates forward, the lower bow counterweight 52 can be driven to move downward, so that the bow of the underwater glider 1 sinks.

[0079] Optionally, the lower bow hoisting motor 32 and the second tension sensor 42 may be connected via a steel wire. Similarly, the second tension sensor 42 and the lower bow counterweight 52 may also be connected via a steel wire.

[0080] For example, under the action of the lower bow hoisting motor 32, the steel wire rope can drive the lower bow counterpoint 52 to move downward. The second tension sensor 42 can measure the tension of the steel wire rope pulling the lower bow counterpoint 52 to obtain the lower bow tension data.

[0081] Since the first pulley 33 is located directly below the lower bow counterweight point 52, the second pulley 34 is located directly below the second tension sensor 42. The second tension sensor 42 is located directly above the lower bow hoisting motor 32. Therefore, the tension measured by the second tension sensor 42 can be used as the weight of the counterweight block of the lower bow counterweight point 52.

[0082] The controller can control the upper bow hoisting motor 31 and the lower bow hoisting motor 32 according to the pitch and roll data of the underwater glider 1 to adjust the pitch angle of the underwater glider 1 .

[0083] Exemplarily, when the controller determines that the pitch angle of the underwater glider 1 is greater than zero (the bow is higher than the stern) according to the pitch and roll data, the controller can control the lower bow hoisting motor 32 to rotate forward to pull the bow down. At this time, the controller controls the upper bow hoisting motor 31 to rotate reversely at the same speed according to the rotation speed of the lower bow hoisting motor 32, so that the length of the wire rope lowered by the upper bow hoisting motor 31 is the same as the length of the wire rope pulled up by the lower bow hoisting motor 32 at each moment. For example, the lower bow hoisting motor 32 pulls the lower bow counterweight 52 at a speed of 2 cm per second, and the upper bow hoisting motor 31 lowers the upper bow counterweight 51 at a speed of 2 cm per second.

[0084] Until the bow and stern of the underwater glider 1 are level, in this case, the value of the upper bow tension data measured by the first tension sensor 41 is the weight of the counterweight installed at the upper bow counterweight point 51, and the lower bow tension data measured by the second tension sensor 42 is the weight of the counterweight installed at the lower bow counterweight point 52.

[0085] Correspondingly, after the underwater glider 1 is placed in water, when the controller determines that the pitch angle of the underwater glider 1 is less than zero (the bow is lower than the stern) based on the pitch and roll data, the controller can control the upper bow lifting motor 31 to rotate forward and control the lower bow lifting motor 32 to rotate reversely, so that the bow of the underwater glider 1 rises.

[0086] According to some embodiments, the bow adjustment device may include not only the bow hoisting device of the above embodiment, but also a bow pressure device connected to the bow balancing point to adjust the roll angle of the underwater glider 1 through the bow balancing point.

[0087] According to some embodiments, reference Figure 3 The bow matching focus may also include a left bow matching focus 53 and a right bow matching focus 54. The left bow matching focus 53 and the right bow matching focus 54 are located on the same horizontal line.

[0088] The left bow counterpoint 53 is located on one side of the bow of the underwater glider 1. The right bow counterpoint 54 is located on the other side of the bow of the underwater glider 1. Exemplarily, the left side of the glider fixing frame is the left bow counterpoint 53. The right side of the glider fixing frame is the right bow counterpoint 54.

[0089] According to some embodiments, reference Figure 6 The bow pressure device includes a left bow pressure motor 35 and a right bow pressure motor 36.

[0090] Reference Figure 6 , Figure 7 as well as Figure 8 The sensor 4 may also include a first pressure sensor 43 and a second pressure sensor.

[0091] The left bow pressure motor 35 is connected to the left bow counterpoint 53 via the first pressure sensor 43, driving the left bow counterpoint 53 to move up and down. That is, the left bow pressure motor 35 is connected to one end of the first pressure sensor 43. The other end of the first pressure sensor 43 is connected to the left bow counterpoint 53. The first pressure sensor 43 measures the force between the left bow pressure motor 35 and the left bow counterpoint 53 to obtain the left bow pressure data.

[0092] For example, the forward rotation of the left bow pressure motor 35 can drive the left bow counterweight 53 to move upward, so that the left side of the bow of the underwater glider 1 is deflected upward to adjust the roll angle of the underwater glider 1. Correspondingly, the reverse rotation of the left bow pressure motor 35 can drive the left bow counterweight 53 to move downward, so that the left side of the bow of the underwater glider 1 is deflected downward to adjust the roll angle of the underwater glider 1.

[0093] According to some embodiments, reference Figure 8 The bow pressure device may further include a left bow guide member 37 and a left bow pressure rod 38.

[0094] The left bow guide member 37 is located between the first pressure sensor 43 and the left bow pressure motor 35. That is, the left bow guide member 37 is located above the first pressure sensor 43. And, the left bow guide member 37 is connected to the first pressure sensor 43.

[0095] The left bow pressure rod 38 is vertically arranged. The top of the left bow pressure rod 38 is connected to the left bow pressure motor 35, and the bottom of the left bow pressure rod 38 is connected to the left bow counterpoint 53. In addition, the left bow pressure rod 38 passes through the first pressure sensor 43 and the left bow guide member 37.

[0096] The left bow pressure motor 35, the left bow guide member 37, the first pressure sensor 43, and the left bow counterpoint 53 are arranged in sequence from top to bottom.

[0097] The left bow guide member 37 plays a guiding role so that the left bow pressure rod 38 can remain vertical, thereby reducing the probability of the left bow pressure rod 38 deviating from the vertical direction.

[0098] Optionally, the left bow guide member 37 may include a horizontally arranged guide bottom and a vertically arranged guide cylinder. The guide cylinder is located above the guide bottom, and the two are relatively fixedly arranged. The guide bottom is provided with a through hole, and the diameter of the through hole is the same as the inner diameter of the guide cylinder. The inner diameter of the guide cylinder is adapted to the diameter of the left bow pressure rod 38, and can accommodate the left bow pressure rod 38 to pass through.

[0099] The left bow pressure rod 38 passes through the guide cylinder portion and the through hole to pass through the left bow guide member 37 .

[0100] The left bow pressure rod 38 is vertically arranged under the restriction of the left bow guide member 37, thereby reducing the probability of the left bow pressure rod 38 deviating from the vertical direction.

[0101] Optionally, refer to Figure 7 and Figure 8 The connection method between the left bow pressure rod 38 and the left bow counterpoint 53 may include: a left bow connecting piece is provided at the left bow counterpoint 53, one end of the left bow connecting piece is fixed to the left bow counterpoint 53, and the other end of the left bow connecting piece is threadedly connected to the left bow pressure rod 38.

[0102] Exemplarily, when the left bow pressure motor 35 rotates forward, the left bow pressure rod 38 moves vertically upward under the drive of the left bow pressure motor 35, so that the left bow counterpoint 53 of the underwater glider 1 moves vertically upward.

[0103] According to some embodiments, reference Figure 8 The bow pressure device may also include a left bow top plate 39 , a left bow limiting plate 311 and at least two left bow positioning rods 310 .

[0104] The left bow top plate 39 is disposed between the left bow pressure rod 38 and the left bow pressure motor 35, and is respectively connected to the left bow pressure rod 38 and the left bow pressure motor 35. That is, the left bow pressure motor 35 is connected to the top of the left bow top plate 39. The bottom of the left bow top plate 39 is connected to the top of the left bow pressure rod 38.

[0105] Each left bow positioning rod 310 is vertically arranged, and the top of each left bow positioning rod 310 is fixed on the left bow top plate 39. The bottom of each left bow positioning rod 310 is suspended.

[0106] The left bow limiting plate 311 is disposed below the first pressure sensor 43 and connected to the first pressure sensor 43 , and the left bow pressure rod 38 passes through the left bow limiting plate 311 .

[0107] Optionally, there are at least two first limiting holes on the left bow limiting plate 311 , and each first limiting hole corresponds to a left bow positioning rod 310 . The left bow positioning rod 310 passes through the first limiting holes on the left bow limiting plate 311 .

[0108] When the left bow pressure motor 35 controls the left bow pressure rod 38 to move up and down, the left bow pressure rod 38 may deflect horizontally and cannot maintain vertical movement. The embodiment of the present application is provided with a left bow top plate 39, a left bow limiting plate 311 and a left bow positioning rod 310. Since the left bow positioning rod 310 is restricted by the first limiting hole on the left bow limiting plate 311, the left bow positioning rod 310 cannot deflect horizontally and can only move vertically up and down. This method can limit the left bow pressure rod 38 from deflecting horizontally and can only maintain vertical up and down movement, thereby helping to reduce the probability of horizontal deflection of the left bow pressure rod 38.

[0109] According to an example embodiment, referring to Figure 6 , Figure 7 as well as Figure 8 The movement of the left bow counterpoint 53 of the underwater glider 1 can be controlled by the left bow pressure motor 35 and the left bow pressure rod 38 in the above embodiment. The movement of the right bow counterpoint 54 can be controlled by the right bow pressure motor 36.

[0110] The right bow pressure motor 36 is connected to the right bow counterpoint 54 via the second pressure sensor, driving the right bow counterpoint 54 to move up and down. That is, the right bow pressure motor 36 is connected to one end of the second pressure sensor. The other end of the second pressure sensor is connected to the right bow counterpoint 54. The second pressure sensor measures the force between the right bow pressure motor 36 and the right bow counterpoint 54 to obtain the right bow pressure data.

[0111] For example, the right bow pressure motor 36 can drive the right bow counterweight 54 to move upward when it rotates forward, so that the right side position of the bow of the underwater glider 1 can be deflected upward to adjust the roll angle of the underwater glider 1. Correspondingly, the right bow pressure motor 36 can drive the right bow counterweight 54 to move downward when it rotates reversely, so that the right side position of the bow of the underwater glider 1 can be deflected downward to adjust the roll angle of the underwater glider 1.

[0112] Optionally, the bow pressure device may further include a right bow guide and a right bow pressure rod. The right bow pressure rod and the right bow guide are vertically arranged. The right bow guide is located between the second pressure sensor and the right bow pressure motor 36. The top of the right bow pressure rod is connected to the right bow pressure motor 36, and the right bow pressure rod passes through the right bow guide and the second pressure sensor in sequence, and the bottom of the right bow pressure rod is connected to the right bow counterpoint 54.

[0113] Optionally, the bow pressure device may further include a right bow top plate, a right bow limiting plate and at least two right bow positioning rods.

[0114] The right bow pressure motor 36 is connected to the top of the right bow top plate. The bottom of the right bow top plate is connected to the top of the right bow pressure rod. Each right bow positioning rod is vertically arranged, and the top of each right bow positioning rod is fixed to the right bow top plate. The bottom of each right bow positioning rod is suspended. There are at least two second limiting holes on the right bow limiting plate, and each second limiting hole corresponds to a right bow positioning rod. The right bow positioning rod passes through the second limiting hole on the right bow limiting plate.

[0115] For example, refer to Figure 6 , Figure 7 as well as Figure 8 When the controller determines that the roll angle of the underwater glider 1 is greater than zero (the left side of the hull of the underwater glider 1 is higher than the right side of the hull) based on the pitch and roll data, the controller can control the left bow pressure motor 35 to reverse and the right bow pressure motor 36 to rotate forward, so that the left bow counterpoint 53 of the underwater glider 1 moves downward and the right bow counterpoint 54 moves upward.

[0116] In this case, the value of the left bow pressure data measured by the first pressure sensor 43 is a positive value, and the value of the right bow pressure data measured by the second pressure sensor is a negative value. That is, the counterweight installed at the left bow counterweight point 53 should be a gravity load, and the weight of the gravity load is the value of the left bow pressure data. The counterweight installed at the right bow counterweight point 54 should be a buoyancy load, and the weight of the buoyancy load is the value of the right bow pressure data.

[0117] According to the exemplary embodiment, the bow of the underwater glider 1 can be adjusted by the bow adjusting device described above. The stern of the underwater glider 1 can be adjusted by the stern adjusting device described below.

[0118] According to some embodiments, the stern adjustment device includes a stern hoisting device and a stern pressure device. The stern hoisting device is connected to the stern counterweight point to adjust the pitch angle of the stern of the underwater glider 1 through the stern counterweight point. The stern pressure device is connected to the stern counterweight point to adjust the roll angle of the stern of the underwater glider 1 through the stern counterweight point.

[0119] According to some embodiments, the stern counterweight may include an upper stern counterweight, a lower stern counterweight, a left stern counterweight, and a right stern counterweight. The sensor 4 may include a third tension sensor, a fourth tension sensor, a third pressure sensor, and a fourth pressure sensor.

[0120] The stern lifting device may include an upper stern lifting device and a lower stern lifting device. The stern pressure device may include a left stern pressure device and a right stern pressure device.

[0121] Reference Figure 4 The upper stern hoisting device may include an upper stern hoisting motor 312. The upper stern hoisting motor 312 is connected to the third tension sensor. The third tension sensor is connected to the upper stern counterweight point to measure the force between the upper stern hoisting motor 312 and the upper stern counterweight point to obtain the upper stern tension data.

[0122] Exemplarily, the forward rotation of the upper stern hoisting motor 312 can drive the upper stern counterweight to move upward.

[0123] Reference Figure 4 The lower stern hoisting device may include a lower stern hoisting motor 313, a third pulley, and a fourth pulley. The lower stern hoisting motor 313 is located directly above the fourth tension sensor. The fourth tension sensor is located directly above the fourth pulley. The third pulley is located directly below the lower stern counterweight. The lower stern hoisting motor 313 is sequentially connected to the fourth tension sensor, the fourth pulley, the third pulley, and the lower stern counterweight through a steel wire rope.

[0124] Exemplarily, the lower stern hoisting motor 313 rotates forward to drive the lower stern counterweight to move downward.

[0125] Reference Figure 6 The left stern pressure device may include a left stern pressure motor 314. The left stern pressure device may also include a left stern guide, a left stern pressure rod, a left stern top plate, a left stern limit plate and a left stern positioning rod. The left stern pressure rod is vertically arranged with the left stern positioning rod.

[0126] Exemplarily, the left stern pressure device has the same structure as the left bow pressure device, and the connection relationship between the various components of the left stern pressure device can be specifically referred to the connection relationship between the various components of the left bow pressure device. For example: the left stern pressure motor 314 is connected to the top of the left stern top plate. The bottom of the left stern top plate is connected to the top of the left stern pressure rod. The bottom of the left stern pressure rod is connected to the left stern counterweight. The left stern guide is located between the third pressure sensor and the left stern top plate. In addition, the left stern guide is connected to the third pressure sensor.

[0127] The left stern pressure rod passes through the left stern guide member and the third pressure sensor.

[0128] Each left stern positioning rod is vertically arranged, and the top of each left stern positioning rod is fixed on the left stern top plate. The bottom of each left stern positioning rod is suspended. There are at least two third limiting holes on the left stern limiting plate, and each third limiting hole corresponds to a left stern positioning rod. The left stern positioning rod passes through the third limiting hole on the left stern limiting plate.

[0129] Reference Figure 6 The right stern pressure device may include a right stern pressure motor 315. The right stern pressure device may also include a right stern guide, a right stern pressure rod, a right stern top plate, a right stern limit plate and a right stern positioning rod. The right stern pressure rod is vertically arranged with the right stern positioning rod.

[0130] Exemplarily, the right stern pressure device has the same structure as the right bow pressure device, and the connection relationship between the various components of the right stern pressure device can be specifically referred to the connection relationship between the various components of the right bow pressure device. For example: the right stern pressure motor 315 is connected to the top of the right stern top plate. The bottom of the right bow top plate is connected to the top of the right stern pressure rod. The bottom of the right stern pressure rod is connected to the right stern counterweight. The right stern guide is located between the fourth pressure sensor and the right stern top plate. In addition, the right stern guide is connected to the fourth pressure sensor.

[0131] The right stern pressure rod passes through the right stern guide member and the fourth pressure sensor.

[0132] Each right stern positioning rod is vertically arranged, and the top of each right stern positioning rod is fixed on the right stern top plate. The bottom of each right stern positioning rod is suspended. There are at least two fourth limiting holes on the right stern limiting plate, and each fourth limiting hole corresponds to a right stern positioning rod. The right stern positioning rod passes through the fourth limiting hole on the right stern limiting plate.

[0133] Reference Figures 1 to 8 An example is used to illustrate the whole process of balancing using the balancing system of the underwater glider 1 in the present application.

[0134] For example, without putting the underwater glider 1 into the water, the operator connects the upper bow hoisting motor 31 to the first tension sensor 41 through a steel wire rope, connects the lower bow hoisting motor 32 to the first pulley 33, the second tension sensor 42, the lower bow counterweight 52 of the second pulley 34, connects the upper stern hoisting motor 312 to the third tension sensor 4 through a steel wire rope, and connects the lower stern hoisting motor 313 to the third pulley, the fourth tension sensor, and the fourth pulley through a steel wire rope, and tightens them. The operator can compare the displayed numerical differences of each tension sensor and mark the difference value to zero. The displayed numerical difference is mainly caused by the friction of the pulley, etc., and the accuracy can be improved by marking the difference value to zero. For example, the first tension sensor 41 displays a value of 0.1; the second tension sensor 42 displays 0.1, the third tension sensor displays 0.0, and the fourth tension sensor displays 0.0. The displayed values ​​of each tension sensor after zeroing are 0.0.

[0135] Then the operator connects the left bow pressure motor 35, the right bow pressure motor 36, the left stern pressure motor 314, the right stern pressure motor 315, the left bow guide 37, the right bow guide, the left stern guide, the right stern guide, the left bow pressure rod 38, the right bow pressure rod, the left stern pressure rod, the right stern pressure rod, the first pressure sensor 43, the second pressure sensor, the third pressure sensor and the fourth pressure sensor. Then the operator zeroes the values ​​of the first pressure sensor 43, the second pressure sensor, the third pressure sensor and the fourth pressure sensor.

[0136] Then the operator connects the counterweight of the underwater glider 1 to the bow adjustment device and the stern condition device. Then the operator places the underwater glider 1 in the pool 2 until it is completely submerged in the water.

[0137] The operator then places the wireless communication module in the water close to the antenna at the stern to smoothly read the radio signal of the underwater glider 1 and transmit the read signal to the controller.

[0138] Then the controller reads TCM (Tilt-compensated compass module) data of the underwater glider 1 to read the pitch and roll data of the underwater glider 1 .

[0139] The controller controls the upper bow hoisting motor 31, the lower bow hoisting motor 32, the upper stern hoisting motor 312 and the lower stern hoisting motor 313 to rotate forward and reverse according to the pitch angle of the underwater glider 1, so as to pull the pitch attitude of the underwater glider 1 to the horizontal. For example, when the pitch angle of the underwater glider 1 is greater than zero (i.e., the bow is higher than the stern), the controller controls the lower bow hoisting motor 32 to rotate forward at a preset speed to pull the bow down, and the upper bow hoisting motor 31 is synchronized with the lower bow hoisting motor 32 and runs in the opposite direction, i.e., reverses at the preset speed, so that the wire rope remains in a stretched state; the upper stern hoisting motor 312 and the lower stern hoisting motor 313 remain stationary, so that the stern remains stationary until the pitch angle is 0. The controller records the data of the first tension sensor 41 , the second tension sensor 42 , the third tension sensor and the fourth tension sensor at this time.

[0140] Afterwards, the controller controls the left bow pressure motor 35, the right bow pressure motor 36, the left stern pressure motor 314, and the right stern pressure motor 315 to rotate forward and reverse respectively to drive the left bow pressure rod 38, the right bow pressure rod, the left stern pressure rod, and the right stern pressure rod to move. And the controller obtains the roll angle of the underwater glider 1 in real time and presses the roll attitude of the underwater glider 1 to the horizontal. For example, the controller determines that the roll angle is greater than zero (the left side is higher than the right side), that is, controls the left bow pressure motor 35 to rotate forward and the left stern pressure motor 314 to rotate forward, so that the left bow pressure rod 38 and the left stern pressure rod are pressed down synchronously, so that the roll angle tends to be horizontal, that is, the roll angle gradually becomes 0. The controller records the data of the first pressure sensor 43, the second pressure sensor, the third pressure sensor, and the fourth pressure sensor when the roll angle is zero.

[0141] Then the controller outputs the data of the first tension sensor 41, the second tension sensor 42, the third tension sensor and the fourth tension sensor, as well as the data of the first pressure sensor 43, the second pressure sensor, the third pressure sensor and the fourth pressure sensor. The data of each sensor output is the value of the counterweight that needs to be installed at the counterweight point corresponding to each sensor 4. When the value of sensor 4 is positive, the operator loads the counterweight corresponding to the sensor 4 with the numerical value. When the value of sensor 4 is negative, the operator loads the counterweight corresponding to the sensor 4 with the numerical value. For example, the value of the first tension sensor 41 is the weight of the counterweight that needs to be installed at the upper bow counterweight point 51. The value of the second tension sensor 42 is the weight of the counterweight that needs to be installed at the lower bow counterweight point 52.

[0142] According to another aspect of the present application, an embodiment of the present application provides a method for balancing an underwater glider, and the method is applied to the balancing system of the above-mentioned underwater glider. The balancing system includes an attitude adjustment device 3, a sensor 4 and a controller.

[0143] Reference Figure 1 The underwater glider 1 is immersed in a first space 21 formed by the test liquid, and the attitude adjustment device 3 is arranged outside the first space 21; the attitude adjustment device 3 is connected to the preset counterweight 5 of the underwater glider 1 to adjust the attitude of the underwater glider 1; the sensor 4 is arranged outside the first space 21, located between the attitude adjustment device 3 and the underwater glider 1, and is respectively connected to the attitude adjustment device 3 and the underwater glider 1 to measure the adjustment data of the attitude adjustment device 3.

[0144] Fig. 9 The flow chart of the method for balancing the underwater glider 1 is shown. Fig. 9 The balancing method includes step S910 and step S920. The balancing method is executed by the controller.

[0145] In step S910, the controller controls the attitude adjustment device 3 according to the pitch and roll data of the underwater glider 1, so as to make the attitude of the underwater glider 1 reach a preset attitude.

[0146] In step S920, when the attitude of the underwater glider 1 reaches the preset attitude, the controller determines and outputs the weight data of the counterweight corresponding to the preset counterweight point 5 according to the adjustment data measured by the sensor 4. The preset counterweight point 5 is the position on the underwater glider 1 for placing the counterweight for balancing.

[0147] According to some embodiments, reference Figures 1 to 8 , the pitch and roll data include pitch angle data and roll angle data, and the preset counterweight 5 includes a bow counterweight and a stern counterweight. Among them, the attitude adjustment device 3 includes a bow lifting device, a bow pressure device, a stern lifting device and a stern pressure device, the bow lifting device is connected to the bow counterweight; the bow pressure device is connected to the bow counterweight; the stern lifting device is connected to the stern counterweight; and the stern pressure device is connected to the stern counterweight.

[0148] In the above step S910, the controller controls the attitude adjustment device 3 according to the pitch and roll data of the underwater glider 1, so that the attitude of the underwater glider 1 reaches a preset attitude, which can be specifically achieved in the following ways: controlling the bow lifting device and the stern lifting device according to the pitch angle data of the underwater glider 1, so that the bow counterweight and the stern counterweight are adjusted by the bow lifting device and the stern lifting device, so as to adjust the pitch attitude of the underwater glider 1 until the pitch attitude of the underwater glider 1 is a preset pitch attitude; controlling the bow pressure device and the stern pressure device according to the roll angle data of the underwater glider 1, so that the bow pressure device and the stern pressure device are adjusted by the bow pressure device and the stern pressure device, so as to adjust the roll attitude of the underwater glider 1 until the roll attitude of the underwater glider 1 is a preset roll attitude.

[0149] It should be clearly understood that the present application describes how to form and use specific examples, but the present application is not limited to any details of these examples. On the contrary, based on the teaching of the content disclosed in the present application, these principles can be applied to many other embodiments.

[0150] Those skilled in the art will appreciate that all or part of the steps of implementing the above method embodiment are implemented as a computer program executed by a CPU. When the computer program is executed by the CPU, the above functions defined by the above method provided in this application are performed.

[0151] According to another aspect of the present application, the embodiment of the present application also introduces a controller from the perspective of a physical device. Fig.10 , Fig.10 The controller shown includes: a processor 1001 and a memory 1003. The processor 1001 and the memory 1003 are connected, such as through a bus 1002. Optionally, the controller may also include a transceiver 1004. It should be noted that in actual applications, the transceiver 1004 is not limited to one, and the structure of the controller does not constitute a limitation on the embodiments of the present application.

[0152] Processor 1001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 1001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0153] The bus 1002 may include a path to transmit information between the above components. The bus 1002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 1002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0154] The memory 1003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0155] The memory 1003 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 1001. The processor 1001 is used to execute the application code stored in the memory 1003 to implement the contents shown in the above method embodiment.

[0156] The controller includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc., and can also be servers, etc. Fig.10 The controller shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0157] Finally, it should be noted that the above are only preferred embodiments of the present application and are not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions of the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A balancing system for an underwater glider, characterized in that: The balancing system comprises: A posture adjustment device connected to a preset counterweight of the underwater glider to adjust the posture of the underwater glider, wherein the underwater glider is immersed in a first space formed by the test liquid, and the posture adjustment device is arranged outside the first space; A sensor is arranged outside the first space, located between the attitude adjustment device and the underwater glider, and connected to the attitude adjustment device and the underwater glider respectively, to measure adjustment data of the attitude adjustment device; a controller, which is in communication connection with the sensor and the underwater glider, controls the attitude adjustment device according to the pitch and roll data of the underwater glider to make the attitude of the underwater glider reach a preset attitude, and when the attitude of the underwater glider reaches the preset attitude, determines the weight data of the counterweight according to the adjustment data measured by the sensor, and outputs the weight data of the counterweight; Wherein, the preset counterweight point is a position on the underwater glider for placing a counterweight block for balancing; Wherein, the preset counterweight point includes a bow counterweight point, the attitude adjustment device includes a bow adjustment device, and the bow adjustment device includes a bow hoisting device and a bow pressure device; The bow hoisting device is connected to the bow counterweight, so as to adjust the pitch angle of the bow of the underwater glider through the bow counterweight; The bow pressure device is connected to the bow counterweight point to adjust the rolling angle of the bow of the underwater glider through the bow counterweight point; The bow configuration focus includes the upper bow configuration focus and the lower bow configuration focus; The bow lifting device comprises: The upper bow hoisting motor is connected to the upper bow counterweight point to pull the upper bow counterweight point to move upward; A lower bow hoisting motor is connected to the lower bow counterweight point to pull the lower bow counterweight point to move downward; The sensor comprises: A first tension sensor is arranged between the upper bow hoisting motor and the upper bow counterweight; A second tension sensor is arranged between the lower bow hoisting motor and the lower bow counterweight; The bow matching points also include a left bow matching point and a right bow matching point; The bow pressure device also includes: A left bow pressure motor is connected to the left bow counterweight to drive the left bow counterweight to move up and down; A right bow pressure motor is connected to the right bow counterweight to drive the right bow counterweight to move up and down; The sensor also includes: a first pressure sensor, disposed between the left bow pressure motor and the left bow counterweight point, and connected to the left bow pressure motor and the left bow counterweight point respectively; a second pressure sensor, which is disposed between the right bow pressure motor and the right bow counterweight point, and is respectively connected to the right bow pressure motor and the right bow counterweight point; Wherein, the bow pressure device also includes: A left bow pressure rod is vertically arranged, the top of the left bow pressure rod is connected to the left bow pressure motor, and the bottom of the left bow pressure rod is connected to the left bow counterweight; a left bow guide member, located between the left bow pressure motor and the first pressure sensor, and connected to the first pressure sensor; The left bow pressure rod passes through the left bow guide member and the first pressure sensor; Wherein, the bow pressure device also includes: A left bow top plate is arranged between the left bow pressure rod and the left bow pressure motor, and is connected to the left bow pressure rod and the left bow pressure motor respectively; At least two left bow positioning rods, one end of each of the left bow positioning rods is connected to the left bow top plate; a left bow limiting plate, which is arranged below the first pressure sensor and connected to the first pressure sensor, and the left bow pressure rod passes through the left bow limiting plate; The at least two left bow positioning rods pass through the left bow limiting plate.

2. The system according to claim 1, characterized in that The preset counterweight point also includes a stern counterweight point; The attitude adjustment device also includes a stern adjustment device, wherein the stern adjustment device includes: A stern hoisting device connected to the stern counterweight to adjust the pitch angle of the stern of the underwater glider through the stern counterweight; The stern pressure device is connected to the stern counterweight point to adjust the rolling angle of the stern of the underwater glider through the stern counterweight point.

3. The system according to claim 1, characterized in that The test liquid is located in a water pool; wherein the bow lifting device further comprises: a first pulley, fixedly arranged at the bottom of the pool, the lower bow counterweight point is located directly above the first pulley, the upper bow counterweight point is located directly above the lower bow counterweight point, the first tension sensor is located directly above the upper bow counterweight point; the upper bow hoisting motor is located directly above the first tension sensor; a second pulley, fixedly arranged at the bottom of the pool, the second pulley being located directly below the second tension sensor; the second tension sensor being located directly above the lower bow hoisting motor; The lower bow hoisting motor is connected to one end of the second tension sensor, and the other end of the second tension sensor is connected to the lower bow counterweight via the second pulley and the first pulley; The upper bow hoisting motor is connected to one end of the first tension sensor, and the other end of the first tension sensor is connected to the upper bow counterweight.

4. A method for balancing an underwater glider, characterized in that: The method is applied to the balancing system of the underwater glider according to any one of claims 1 to 3 above, the system comprising an attitude adjustment device, a sensor and a controller, the underwater glider is immersed in a first space formed by a test liquid, and the attitude adjustment device is arranged outside the first space; the attitude adjustment device is connected to a preset balancing point of the underwater glider to adjust the attitude of the underwater glider; the sensor is arranged outside the first space, located between the attitude adjustment device and the underwater glider, and is respectively connected to the attitude adjustment device and the underwater glider to measure the adjustment data of the attitude adjustment device; Wherein, the method comprises: According to the pitch and roll data of the underwater glider, the attitude adjustment device is controlled to make the attitude of the underwater glider reach a preset attitude; When the posture of the underwater glider reaches a preset posture, determining and outputting the weight data of the counterweight block corresponding to the preset counterweight point according to the adjustment data measured by the sensor; Wherein, the preset counterweight point is a position on the underwater glider for placing a counterweight block for balancing.

5. The method according to claim 4, characterized in that The pitch and roll data include pitch angle data and roll angle data, and the preset counterweight points include a bow counterweight point and a stern counterweight point; wherein the attitude adjustment device includes a bow lifting device, a bow pressure device, a stern lifting device and a stern pressure device, the bow lifting device is connected to the bow counterweight point; the bow pressure device is connected to the bow counterweight point; the stern lifting device is connected to the stern counterweight point; the stern pressure device is connected to the stern counterweight point; Wherein, controlling the attitude adjustment device according to the pitch and roll data of the underwater glider to make the attitude of the underwater glider reach a preset attitude includes: Controlling the bow hoisting device and the stern hoisting device according to the pitch angle data of the underwater glider, so that the bow hoisting device and the stern hoisting device adjust the bow counterweight point and the stern counterweight point to adjust the pitch attitude of the underwater glider until the pitch attitude of the underwater glider is a preset pitch attitude; According to the roll angle data of the underwater glider, the bow pressure device and the stern pressure device are controlled to adjust the bow counterweight point and the stern counterweight point by the bow pressure device and the stern pressure device to adjust the roll attitude of the underwater glider until the roll attitude of the underwater glider is a preset roll attitude.

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